DC-Loc (Doppler compensated Radar Metric Localization)

This repo is an implementation for our ICRA2022 paper DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation

@article{gao2021accurate,
  title={Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation},
  author={Gao, Pengen and Zhang, Shengkai and Wang, Wei and Lu, Chris Xiaoxuan},
  booktitle={2022 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2022},
  organization={IEEE}  
}

:octocat: Metric localization performance

:boat: Build instructions

Dependencies:

Eigen 3.3
OpenCV 3.4
Ceres 1.14
Sophus 1.0

Note: this code has been build and tested on Ubuntu 18.04, but it should compile for newer versions of Ubuntu.

📥 Dataset

You may need to download nuScenes dataset (radar) from nutonomy/nuscenes-devkit.

:taxi: Examples

1. preprocess Nuscenes dataset to get loop closure cases and compensate for doppler effect in each radar submap.

   cd ./preprocess
   python search_for_loopclosure.py -n PATH_TO_NUSCENES
   python list_seq.py

2. metric localization process

   cd ~/DCRML
   mkdir build
   cd ./build
   cmake ../DCRML
   make
   ./DCRML

📺 video demo

Youtube demo